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2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)最新文献

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Inertia-based ICR kinematic model for tracked skid-steer robots 履带式滑转向机器人基于惯性的ICR运动学模型
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088158
Jorge L. Martínez, J. Morales, A. Mandow, S. Pedraza, A. García-Cerezo
{"title":"Inertia-based ICR kinematic model for tracked skid-steer robots","authors":"Jorge L. Martínez, J. Morales, A. Mandow, S. Pedraza, A. García-Cerezo","doi":"10.1109/SSRR.2017.8088158","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088158","url":null,"abstract":"Kinematic models for skid-steer vehicles based on the locations of instantaneous centers of rotation (ICRs) of treads have been useful for motion control and dead reckoning. These models have typically assumed constant track ICRs because actual ICRs remain in bounded regions. However, this assumption neglects tread ICR variations during motion caused by dynamics. This paper analyzes the effect of inertial forces on track ICR positions. The study is based on dynamic simulations of a tracked mobile robot moving on hard horizontal terrain. Furthermore, a new kinematic model is defined in terms of three indices for sliding, eccentricity and steering efficiency. The proposed model allows to estimate actual track ICR positions as a function of inertia measurements and track speeds.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130869593","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
Collaborative air-ground target searching in complex environments 复杂环境下空地协同目标搜索
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088168
C. Shen, Yuanzhao Zhang, Zimo Li, Fei Gao, S. Shen
{"title":"Collaborative air-ground target searching in complex environments","authors":"C. Shen, Yuanzhao Zhang, Zimo Li, Fei Gao, S. Shen","doi":"10.1109/SSRR.2017.8088168","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088168","url":null,"abstract":"Collaboration between heterogeneous robots can greatly improve the overall robot system by obtaining capabili­ties that each single robot is unable to achieve. In this paper, we present a collaborative robot system designed for search and rescue missions in an unknown environment with obstacles. The system consists of an aerial robot and a ground robot. An extended Kalman filter (EKF) is used for robot pose estimation, and an online trajectory generation algorithm is implemented for dynamic obstacle avoidance of the ground robot. The aerial robot first surveys an area of interests and sources a number of targets. The ground robot is then guided by the aerial robot to reach the target location while at the same time avoids obstacles along the way using a laser range finder. The system is entirely autonomous, achieves maximum efficiency and releases the human operator from all low-level types of operations. A centralized EKF is implemented with the flexibility of easily being modified into a distributed EKF.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"57 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120920311","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 22
Survey in Fukushima Daiichi NPS by combination of human and remotely-controlled robot 人工与遥控机器人联合调查福岛第一核电站
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088132
Tomoki Sakaue, Shin Yoshino, Koju Nishizawa, K. Takeda
{"title":"Survey in Fukushima Daiichi NPS by combination of human and remotely-controlled robot","authors":"Tomoki Sakaue, Shin Yoshino, Koju Nishizawa, K. Takeda","doi":"10.1109/SSRR.2017.8088132","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088132","url":null,"abstract":"Highly contaminated puddles were found outside the apparatus hatch in No.3 reactor building in Fukushima Daiichi NPS. These puddles indicated a possibility of cooling water leakage from Primary Containment Vessel (PCV). Therefore, it was necessary to survey whether there was a leakage or not. However surveying was impossible for human because of two main reasons, the narrow access route of 100mm width and the high ambient radiation level. Accordingly, to realize the survey, a small remotely-controlled robot and an overlook camera device were developed by TEPCO Research Institute (TRI). This robot system was deployed in Fukushima Daiichi, going through several tests and a risk assessment for confirming its reliability. The survey was executed successfully by the combination of human and the robot system in November 2015, and finally traces of water leakage were found on the edge of the apparatus hatch.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116636635","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Continuously informed heuristic A∗-optimal path retrieval inside an unknown environment 未知环境下的连续通知启发式A * -最优路径检索
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088166
Athanasios Ch. Kapoutsis, Christina M. Malliou, S. Chatzichristofis, E. Kosmatopoulos
{"title":"Continuously informed heuristic A∗-optimal path retrieval inside an unknown environment","authors":"Athanasios Ch. Kapoutsis, Christina M. Malliou, S. Chatzichristofis, E. Kosmatopoulos","doi":"10.1109/SSRR.2017.8088166","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088166","url":null,"abstract":"This paper deals with the problem of retrieving the optimal path between two points inside an unknown environment, utilizing a robot-scouter. The vast majority of the path planning frameworks for an unknown environment focuses on the problem of navigating a robot, as soon as possible, towards a pre-specified location. As a result, the final followed path between the start and end location is not necessarily the optimal one, as the objective of the robot at each timestamp is to minimize its current distance to the desirable location. However, there are several real-life applications, like the one formulated in this paper, where the robot-scouter has to find the minimum path between two positions in an unknown environment, which is going to be used in a future phase. In principle, the optimal path can be guaranteed by a searching agent that adopts an A∗-like decision mechanism. In this paper, we propose a specifically-tailored variation (CIA∗) of the A∗ algorithm to the problem in hand. CIA∗ inherits the A∗ optimality and efficiency guarantees, while at the same time exploits the learnt formation of the obstacles, to on-line revise the heuristic evaluation of the candidate states. As reported in the simulation results, CIA∗ achieves an enhancement in the range of 20-50%, over the typical A∗, on the cells that have to be visited to guarantee the optimal path construction. An open-source implementation of the proposed algorithm along with a Matlab GUI are available1.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124327340","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Vision-based autonomous quadrotor landing on a moving platform 在移动平台上基于视觉的自主四旋翼着陆
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088164
Davide Falanga, Alessio Zanchettin, Alessandro Simovic, J. Delmerico, D. Scaramuzza
{"title":"Vision-based autonomous quadrotor landing on a moving platform","authors":"Davide Falanga, Alessio Zanchettin, Alessandro Simovic, J. Delmerico, D. Scaramuzza","doi":"10.1109/SSRR.2017.8088164","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088164","url":null,"abstract":"We present a quadrotor system capable of autonomously landing on a moving platform using only onboard sensing and computing. We rely on state-of-the-art computer vision algorithms, multi-sensor fusion for localization of the robot, detection and motion estimation of the moving platform, and path planning for fully autonomous navigation. Our system does not require any external infrastructure, such as motion- capture systems. No prior information about the location of the moving landing target is needed. We validate our system in both synthetic and real-world experiments using low-cost and lightweight consumer hardware. To the best of our knowledge, this is the first demonstration of a fully autonomous quadrotor system capable of landing on a moving target, using only on-board sensing and computing, without relying on any external infrastructure.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123747250","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 125
Competition task development for response robot innovation in World Robot Summit 世界机器人峰会响应机器人创新竞赛任务制定
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088151
Tetsuya Kimura, M. Okugawa, K. Oogane, Y. Ohtsubo, M. Shimizu, Tomoichi Takahashi, S. Tadokoro
{"title":"Competition task development for response robot innovation in World Robot Summit","authors":"Tetsuya Kimura, M. Okugawa, K. Oogane, Y. Ohtsubo, M. Shimizu, Tomoichi Takahashi, S. Tadokoro","doi":"10.1109/SSRR.2017.8088151","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088151","url":null,"abstract":"Japanese government plans to host a robot competition, World Robot Summit(WRS), in 2020 aiming to promote robot innovation. WRS involves three categories; (1)industrial, (2)service, and (3)disaster robotics categories. In this paper, the tasks of the disaster robotics category of WRS are introduced, and the consideration of robot innovation promotion with the WRS tasks is carried out.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"16 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130528614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
An investigation of goal assignment for a heterogeneous robotic team to enable resilient disaster-site exploration 异构机器人团队的目标分配研究，以实现弹性灾难现场勘探
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088153
J. Gregory, Iain Brookshaw, Jonathan R. Fink, Satyandra K. Gupta
{"title":"An investigation of goal assignment for a heterogeneous robotic team to enable resilient disaster-site exploration","authors":"J. Gregory, Iain Brookshaw, Jonathan R. Fink, Satyandra K. Gupta","doi":"10.1109/SSRR.2017.8088153","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088153","url":null,"abstract":"In this work we present a framework and quantitative metric for comparing the performance and resiliency of goal assignment strategies in the context of autonomous, disaster-site exploration using a heterogeneous team of robots. We propose three feasible policies for assigning user-defined Areas-of-Interest amongst a team of an Unmanned Ground Vehicle (UGV) and a squadron of Unmanned Aerial Vehicles (UAVs). We characterize the performance of these strategies in a series of simulations using our framework and take into consideration the real-world constraints of stochastic UAV flight time failures, stochastic communications failure, and limited UAV battery life. Finally, we test the sensitivity of the proposed assignment methods to varying levels of UAV flight failure, poor communications, and increased exploration duration.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133215188","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
Field experiment report for exploration of abandoned lignite mines with teleinvestigation robot system 遥控探测机器人系统勘查废弃褐煤矿山现场试验报告
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088135
Hiroyasu Miura, Ayaka Watanabe, M. Okugawa, S. Kurahashi, M. Kurisu
{"title":"Field experiment report for exploration of abandoned lignite mines with teleinvestigation robot system","authors":"Hiroyasu Miura, Ayaka Watanabe, M. Okugawa, S. Kurahashi, M. Kurisu","doi":"10.1109/SSRR.2017.8088135","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088135","url":null,"abstract":"The risk of collapse and subsidence of the abandoned lignite mines has been mentioned in Tokai region of Japan. The filling of the cavity is still being advanced. There is no cavity map in the abandoned lignite mines, and it is required to grasp and explore of the underground space in order to estimate the amount of the filling material. By a request from Mitake-cho in Gifu Prefecture, we got the opportunity to explore the inside of an abandoned lignite mine by using our robot system. Prior to the exploration of the actual abandoned lignite mine, as feasibility study, an experimental test field that simulated the elements of abandoned lignite mine was prepared in outdoor. Some experimentations were performed and the explore robot system was evaluated in this study. This paper described about the lessons learned from the feasibility study.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129020563","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Events for the application of measurement science to evaluate ground, aerial, and aquatic robots 应用测量科学评估地面、空中和水上机器人的事件
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088152
A. Jacoff, R. Candell, Anthony Downs, Hui-Min Huang, Kenneth Kimble, K. Saidi, R. Sheh, Ann Virts
{"title":"Events for the application of measurement science to evaluate ground, aerial, and aquatic robots","authors":"A. Jacoff, R. Candell, Anthony Downs, Hui-Min Huang, Kenneth Kimble, K. Saidi, R. Sheh, Ann Virts","doi":"10.1109/SSRR.2017.8088152","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088152","url":null,"abstract":"This paper reports on three measurement science field exercises for evaluating ground, aerial, and aquatic robots. These events, conducted from February to June 2017, were conducted in close co-ordination with the responder community, standards organizations, manufacturers, and academia. Test data from a wide variety of robot platforms were gathered in a wide variety of standard and prototypical test methods ranging from mobility and manipulation to sensors and endurance.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115226881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Formation obstacle avoidance using RRT and constraint based programming 基于RRT和约束规划的编队避障算法
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088131
Fredrik Båberg, Petter Ögren
{"title":"Formation obstacle avoidance using RRT and constraint based programming","authors":"Fredrik Båberg, Petter Ögren","doi":"10.1109/SSRR.2017.8088131","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088131","url":null,"abstract":"In this paper, we propose a new way of doing formation obstacle avoidance using a combination of Constraint Based Programming (CBP) and Rapidly Exploring Random Trees (RRTs). RRT is used to select waypoint nodes, and CBP is used to move the formation between those nodes, reactively rotating and translating the formation to pass the obstacles on the way. Thus, the CBP includes constraints for both formation keeping and obstacle avoidance, while striving to move the formation towards the next waypoint. The proposed approach is compared to a pure RRT approach where the motion between the RRT waypoints is done following linear interpolation trajectories, which are less computationally expensive than the CBP ones. The results of a number of challenging simulations show that the proposed approach is more efficient for scenarios with high obstacle densities.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132617746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
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